CN205791236U - Horizontal double bundle conductor travelling robot walking obstacle crossing device - Google Patents
Horizontal double bundle conductor travelling robot walking obstacle crossing device Download PDFInfo
- Publication number
- CN205791236U CN205791236U CN201620732396.3U CN201620732396U CN205791236U CN 205791236 U CN205791236 U CN 205791236U CN 201620732396 U CN201620732396 U CN 201620732396U CN 205791236 U CN205791236 U CN 205791236U
- Authority
- CN
- China
- Prior art keywords
- sheave
- sheaves
- horizontal double
- bundle conductor
- double bundle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of horizontal double bundle conductor travelling robot walking obstacle crossing device, drive sheave, two servo-actuated sheaves, four protection sheaves and frame including two.Two drive sheave connected by drive shaft and be arranged on below frame front, and wheel spacing is equal with the spacing of wire, and two servo-actuated sheaves are separately mounted in two frames driving sheave dead astern, form four upper strata sheaves；Four protection sheaves are respectively positioned in the position, the back lower place of four upper strata sheaves by four elastic lifting axle mechanism and form lower floor's sheave of a group two-by-two；Four elastic lifting axle mechanism one group two-by-two, are separately fixed at frame both sides.During use, upper strata sheave rides on horizontal double bundle conductor, and lower floor's sheave catches on wire, and obstacle crossing device moves ahead on horizontal double bundle conductor, when the sheave of same axis is by the contiguous block of conductor spacer, and remaining sheave or be pressed in or hook on wire.This utility model simple in construction, safe and reliable.
Description
Technical field
This utility model belongs to the parts on ultra-high-tension power transmission line inspection robot, is specifically related to the double division of a kind of level and leads
Line travelling robot walking obstacle crossing device.
Background technology
Along with ultra-high-tension power transmission line builds the huge increasing of mileage and the development of science and technology, wire inspection robot, remove
The various ultra-high-tension power transmission line failture evacuation robot such as ice robot arises at the historic moment.At present, these robots can be at solid conductor
Upper walking, but can not walk on the most horizontal double bundle conductor on multiple fission conductor, because horizontal double bundle conductor and many points
Splitting and just have a lead spacer every tens of rice on wire, the effect of lead spacer is to avoid wind-force to cause wire to swing
Time mutually collide, existing failture evacuation robot cannot cross over when running into lead spacer.The level of China double division circuit is relatively
Many, so, develop a kind of horizontal double bundle conductor travelling robot walking obstacle crossing device necessary.
Summary of the invention
The purpose of this utility model be to overcome existing inspection robot cannot the defect of spanning spacers, a kind of water is proposed
Flat double bundle conductor travelling robot walking obstacle crossing device.
The technical scheme realizing above-mentioned purpose is: a kind of horizontal double bundle conductor travelling robot walking obstacle crossing device, bag
Include two and drive sheave, two servo-actuated sheaves, four protection sheaves and frame.Said two drives sheave to be connected by drive shaft
And it being arranged on below frame front by wheel carrier, wheel spacing is equal with the spacing of horizontal double bundle conductor, the servo-actuated sheave of said two
It is arranged in two frames driving sheave dead astern by wheel carrier respectively, drives sheave and servo-actuated sheave to form upper strata sheave, respectively
The axis height of wheel is equal；Described four protection sheaves are respectively positioned in four upper strata sheaves by four elastic lifting axle mechanism
Position, the back lower place and form lower floor's sheave of a group two-by-two, between the wheel spacing of Mei Zu lower floor sheave and horizontal double bundle conductor
Away from equal, the axis height of lower floor's sheave is equal；The equal diameters of described each sheave, upper strata sheave is high with the axis of lower floor's sheave
Degree difference adds diameter of wire for sheave bottom land tactical diameter；Four elastic lifting axle mechanism one group two-by-two, are separately fixed at frame
Both sides.
Described elastic lifting axle mechanism is made up of axle sleeve, L-type wheel shaft and stage clip, and stage clip is arranged in axle sleeve and is sleeved on
The vertical section of L-type wheel shaft, the horizontal segment of L-type wheel shaft is the installation wheel shaft of protection sheave, and axle sleeve is fixed on outside frame.
Further, the wheel channel section of described each sheave is the radius R radius equal to lead spacer contiguous block exterior arc surface,
Wheel trench bottom has the cross sectional radii r arc groove equal to wire radius.
Further, described axle sleeve lower end is provided with square hole, and the lower end of described L-type wheel shaft vertical section is square bar shaft part, protector
When wheel is on wire or on conductor spacer contiguous block, square bar shaft part is positioned in square hole.
During use, upper strata of the present utility model sheave rides on horizontal double bundle conductor, and lower floor's sheave passes through elastic lifting
Axle mechanism catches on double bundle conductor, drives sheave to be moved by the power drive of robot, and remaining sheave is servo-actuated.Running into wire
During conductor spacer, each sheave only successively contacts with the conductor spacer contiguous block being fixed on wire, due to lower floor's sheave the most flexibly
Hook wire, when the sheave of same axis is by contiguous block, remaining sheave or be pressed in or hook on wire, therefore, in frame
Inspection robot can safely, successfully cross over lead spacer.This utility model simple in construction, safe and reliable.
Accompanying drawing explanation
Fig. 1 is a D structure schematic diagram of this utility model embodiment.
Fig. 2 is the front schematic view of embodiment illustrated in fig. 1.
Fig. 3 is the left view of embodiment illustrated in fig. 1.
Fig. 4 is the profile at Fig. 2 A-A.
Fig. 5 is the profile at Fig. 2 B-B.
Fig. 6 is another D structure schematic diagram of embodiment.
In figure: 1. drive sheave, 2. drive shaft, 3. wheel carrier, the most servo-actuated sheave, 5. protect sheave, 6. frame, 7. axle sleeve,
701. square holes, 8.L type wheel shaft, 801. round bar shaft parts, 802. square bar shaft part, 9. stage clip, 10. wires, 11. lead spacer, 12.
Contiguous block.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1 to Figure 3, this utility model includes that two drive the servo-actuated sheave of sheave 1, two 4, four protection sheave
5 and frame 6.Two drive sheave 1 to connect and be arranged on by wheel carrier 3 lower front of frame 6, two drivings by drive shaft 2
The wheel spacing of sheave 1 is equal with the spacing of horizontal double bundle conductor；Two servo-actuated sheaves 4 are arranged on two by wheel carrier 3 respectively and drive
In the frame in dynamic sheave 1 dead astern, driving sheave and 1 servo-actuated sheave 4 to form upper strata sheave, the axis height of each wheel is equal；Four
Individual protection sheave 5 is respectively positioned in the position, the back lower place of four upper strata sheaves by four elastic lifting axle mechanism and is formed two-by-two
Lower floor's sheave of one group, the wheel spacing of Mei Zu lower floor sheave is equal with the spacing of horizontal double bundle conductor, the axis of lower floor's sheave
The most equal；The equal diameters of each sheave, under non-obstacle detouring state, upper strata sheave is sheave with the axis difference in height of lower floor's sheave
Bottom land tactical diameter adds diameter of wire；Four elastic lifting axle mechanism one group two-by-two, are separately fixed at frame 6 both sides.
As shown in Figure 4, above-mentioned elastic lifting axle mechanism is made up of axle sleeve 7, L-type wheel shaft 8 and stage clip 9, and stage clip 9 is arranged on
In axle sleeve 7 and be sleeved on the vertical section of L-type wheel shaft 8, the horizontal segment of L-type wheel shaft 8 is the installation wheel shaft of protection sheave 5, and axle sleeve 7 is solid
It is scheduled on the outside of frame 6.
As shown in Figures 4 to 6, in the present embodiment, the wheel channel section of each sheave is arc surface, and this arc surface radius R is equal to
The radius of contiguous block 12 cylindrical of lead spacer, wheel trench bottom has an arc groove, and this arc groove cross sectional radii r is equal to wire
Radius.Such sheave can ensure fully can connect with the contiguous block 12 of lead spacer when it passes through lead spacer 11
Touch, increase this device stability in walking.
As shown in Figure 4, in the present embodiment, axle sleeve 7 lower end is provided with square hole 701, and the upper end of L-type wheel shaft 8 vertical section is round bar
Shaft part 801, lower end is square bar shaft part 802, when protection sheave 5 is on wire 10 or on the contiguous block 12 of conductor spacer, square bar axle
Section 802 is positioned in square hole 701, and square bar shaft part 802 can slide up and down in square hole 701, but will not rotate.Sheave 1 is driven to cross over
Between lead spacer 11 time frame 6 is raised relative to wire 10, or when lead spacer 11 crossed over by protection sheave 5, L-type wheel shaft
Relative frame 6 is moved down by 8 with protection sheave 5, but under the effect of stage clip 9, protection sheave 5 still with wire 10 or wire
The contiguous block 12 of conductor spacer 11 is fully contacted.
This device is placed on wire 10 or when taking off from wire 10, as long as L-type wheel shaft 8 is continued drop-down so that it is hang down
The garden bar shaft part 801 of straight section upper end enters in square hole 701, and inwardly upset is caught on wire 10 to protection sheave 5 or outwards overturns
Wire 10 is departed from, so that it may complete the action of reaching the standard grade or roll off the production line of whole device to protection sheave 5.
Claims (4)
1. a horizontal double bundle conductor travelling robot walking obstacle crossing device, it is characterised in that: include two drive sheaves, two
Individual servo-actuated sheave, four protection sheaves and frame, said two drives sheave connected by drive shaft and be arranged on machine by wheel carrier
Frame lower front, wheel spacing is equal with the spacing of horizontal double bundle conductor, and the servo-actuated sheave of said two is arranged on by wheel carrier respectively
In two frames driving sheave dead astern, driving sheave and servo-actuated sheave to form upper strata sheave, the axis height of each wheel is equal；
Described four protection sheaves are respectively positioned in position, the back lower place the shape of four upper strata sheaves by four elastic lifting axle mechanism
Becoming lower floor's sheave of a group two-by-two, the wheel spacing of Mei Zu lower floor sheave is equal with the spacing of horizontal double bundle conductor, lower floor's sheave
Axis height equal；The equal diameters of described each sheave, upper strata sheave is sheave bottom land with the axis difference in height of lower floor's sheave
Tactical diameter adds diameter of wire；Four elastic lifting axle mechanism one group two-by-two, are separately fixed at frame both sides.
2. according to the horizontal double bundle conductor travelling robot walking obstacle crossing device described in claim 1, it is characterised in that: described
The wheel channel section of each sheave is the radius R radius equal to lead spacer contiguous block exterior arc surface, and wheel trench bottom has a section
Radius r is equal to the arc groove of wire radius.
3. according to the horizontal double bundle conductor travelling robot walking obstacle crossing device described in claim 1 or 2, it is characterised in that:
Described elastic lifting axle mechanism is made up of axle sleeve, L-type wheel shaft and stage clip, and stage clip is arranged in axle sleeve and is sleeved on L-type wheel shaft
Vertical section, the horizontal segment of L-type wheel shaft be protection sheave installation wheel shaft, axle sleeve is fixed on outside frame.
4. according to the horizontal double bundle conductor travelling robot walking obstacle crossing device described in claim 3, it is characterised in that: described
Axle sleeve lower end is provided with square hole, and the lower end of described L-type wheel shaft vertical section is square bar shaft part, and protection sheave is on wire or at conductor spacer
Time on contiguous block, square bar shaft part is positioned in square hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620732396.3U CN205791236U (en) | 2016-07-01 | 2016-07-01 | Horizontal double bundle conductor travelling robot walking obstacle crossing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620732396.3U CN205791236U (en) | 2016-07-01 | 2016-07-01 | Horizontal double bundle conductor travelling robot walking obstacle crossing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205791236U true CN205791236U (en) | 2016-12-07 |
Family
ID=58122251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620732396.3U Expired - Fee Related CN205791236U (en) | 2016-07-01 | 2016-07-01 | Horizontal double bundle conductor travelling robot walking obstacle crossing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205791236U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106025926A (en) * | 2016-07-01 | 2016-10-12 | 陕西理工大学 | Horizontal double split wire inspection robot walking obstacle-crossing device |
| CN109586210A (en) * | 2018-12-28 | 2019-04-05 | 西安建筑科技大学 | Device and method offline in power transmission line robot is travelled on a kind of line |
-
2016
- 2016-07-01 CN CN201620732396.3U patent/CN205791236U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106025926A (en) * | 2016-07-01 | 2016-10-12 | 陕西理工大学 | Horizontal double split wire inspection robot walking obstacle-crossing device |
| CN109586210A (en) * | 2018-12-28 | 2019-04-05 | 西安建筑科技大学 | Device and method offline in power transmission line robot is travelled on a kind of line |
| CN109586210B (en) * | 2018-12-28 | 2020-06-30 | 西安建筑科技大学 | Device and method for getting on and off of power transmission line robot running on line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110921534B (en) | Steel pipe grabbing and lifting device for ground building | |
| CN203998697U (en) | Movable type gantry mast-up | |
| CN205791236U (en) | Horizontal double bundle conductor travelling robot walking obstacle crossing device | |
| CN204021041U (en) | A kind of traveling gear for overhead power transmission line crusing robot | |
| CN204802945U (en) | Lift is demolishd to chimney | |
| CN107893387A (en) | It is easy to the current novel intelligent deceleration strip of non-motor vehicle | |
| CN106025926A (en) | Horizontal double split wire inspection robot walking obstacle-crossing device | |
| CN202542703U (en) | Electric signal beam crane | |
| CN103643815A (en) | Lateral cantilever type parking device | |
| CN106743250A (en) | A kind of single pile movement system | |
| CN201301175Y (en) | Deformation type transporter | |
| CN206091492U (en) | Garage guide system circulates perpendicularly | |
| CN202880699U (en) | Bias-rail girder bridge crane | |
| CN206783157U (en) | Overhead explosion-proof crane with rolling screen door cut-off workshop | |
| CN202449757U (en) | Motor-driven single-beam suspending crane | |
| CN201793331U (en) | Translational crane for steel pipes | |
| CN105591315B (en) | Block corner block during a kind of high voltage power transmission construction | |
| CN103213901A (en) | Automotive wheel hub surface treatment automatic hoisting production line | |
| CN205172086U (en) | Drum formula stereo garage | |
| CN204369461U (en) | For the triangle lifting rope structure of driving a vehicle | |
| CN203466499U (en) | Device specially used for cable erection | |
| CN203430115U (en) | Two-layer lifting horizontal-moving parking equipment | |
| CN203624863U (en) | Novel bridge crane with double alarms | |
| CN203199891U (en) | Automatic lifting production line for automobile hub surface treatment | |
| CN201810006U (en) | Chain reciprocating transmission device for parking elevation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20170701 |